Gyroscope and method for determining angular motion

A gyroscope is disclosed. In one embodiment, the gyroscope comprises a first elongated elastic member (301) and a second elongated elastic member (302) which is oriented perpendicular to the first member and connected to the center of the first member (301) at one end. Each end of the first member (301) is connected to an anchor (303). The first member (301) performs flexural vibrations in an actuation direction. In the presence of angular motion, a flexural vibration of the second member perpendicular to the actuation direction is induced. In a second embodiment, the gyroscope comprises a single elongated elastic member (101) capable of flexural vibration in two directions. A device combining these gyroscopes and methods of operating them are also disclosed. Furthermore, a method for determining the angular velocity and angular acceleration vectors is described.